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Package Summary

The joint_trajectory_action is a node that exposes an action interface to a joint trajectory controller.

Maintainer status: maintained

Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>

Author: Stuart Glaser

License: BSD

Cannot load information on name: joint_trajectory_action, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Overview

The joint trajectory action is a node that provides an action interface for tracking trajectory execution. It passes trajectory goals to the controller, and reports success when they have finished executing. The joint trajectory action can also enforce constraints on the trajectory, and abort trajectory execution when the constraints are violated.

ROS API

The ROS API consists of three parts: private parameters, an action server that achieves trajectory goals, and an interface to a trajectory controller.

Parameters

Parameters

joints (Array of strings, default: Required)

List of joints that this action will be commanding. Must match the joints the controller is commanding.

constraints/goal_time (double, default: 0.0)

The amount of time (in seconds) that the controller is permitted to be late to the goal. If goal_time has passed and the controller still has not reached the final position, then the goal is aborted.

constraints/<joint>/goal (double, default: -1.0)

The maximum final error for <joint> for the trajectory goal to be considered successful. Negative numbers indicate that there is no constraint. Given in units of joint position (generally radians for revolute joints or meters for prismatic joints). If this constraint is violated, the goal is aborted.

constraints/<joint>/trajectory (double, default: -1.0)

The maximum error for <joint> at any point during execution for the trajectory goal to be considered successful. Negative numbers indicate that there is no constraint. Given in units of joint position (generally radians for revolute joints or meters for prismatic joints). If this constraint is violated, the goal is aborted.

constraints/stopped_velocity_tolerance (double, default: 0.01)

The maximum velocity at the end of the trajectory for the joint to be considered stopped. Given in units of joint position (generally radians for revolute joints or meters for prismatic joints). If this constraint is satisfied, the goal is successful.